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samples: sensor: TDK APEX generic sample
It reports Advanced Pedometer and Event Detection features, such as Pedometer, Tilt detection, Wake on Motion and Significant Motion Detector. Device tree options. Signed-off-by: Aurelie Fontaine <[email protected]>
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‎samples/sensor/tdk_apex/CMakeLists.txt‎

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#
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# Copyright (c) 2024 TDK Invensense
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#
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# SPDX-License-Identifier: Apache-2.0
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#
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cmake_minimum_required(VERSION 3.20.0)
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find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
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project(tdk_apex)
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FILE(GLOB app_sources src/*.c)
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target_sources(app PRIVATE ${app_sources})

‎samples/sensor/tdk_apex/README.rst‎

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.. zephyr:code-sample:: tdk_apex
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:name: TDK Advanced Pedometer and Event Detection (APEX)
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:relevant-api: sensor_interface
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Get TDK APEX event detection (trigger mode).
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Overview
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********
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This sample application shows how to use the APEX (Advanced Pedometer
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and Event Detection) features of TDK Invensense sensors. It consists of:
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** Pedometer: Tracks step count, and provide details such as the cadence
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and the estimated activity type (Walk, Run, Unknown).
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** Tilt Detection: Detects the Tilt when tilting the board with an angle
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of 30 degrees or more. The tilt event is generated when the
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position is held for 4 seconds.
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** Wake on Motion (WoM): Detects motion per axis exceeding 195 mg threshold.
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** Significant Motion Detector (SMD): Detects when the user has moved
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significantly.
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APEX features support are configured through devicetree.
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References
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**********
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- https://invensense.tdk.com/download-pdf/an-000271-icm-42607x-and-icm-42670x-apex-motion-functions-description-and-usage/
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Driver configuration
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********************
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The APEX is based on accelerometer data only. The TDK Sensor driver configures
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accelerometer low power mode and the APEX operating frequency (25Hz or 50Hz).
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Wiring
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*******
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This sample uses an external breakout for the sensor. A devicetree
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overlay must be provided to identify the TDK sensor, the SPI or I2C bus interface and the interrupt
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sensor GPIO.
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Building and Running
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********************
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This sample supports TDK IMU devices. Each device needs
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to be aliased as ``tdk-apex-sensorN`` where ``N`` goes from ``0`` to ``9``. For example:
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.. code-block:: devicetree
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/ {
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aliases {
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tdk-apex-sensor0 = &icm42670p;
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};
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};
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This sample supports APEX feature of TDK device. It needs to be specified as bellow:
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.. code-block:: devicetree
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icm42670p: icm42670p@0 {
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apex = "pedometer";
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}
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Make sure the apex feature used is in devicetree, then build and run with:
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.. zephyr-app-commands::
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:zephyr-app: samples/sensor/tdk_apex
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:board: nrf52dk/nrf52832
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:goals: build flash
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Sample Output
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=============
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.. code-block:: devicetree
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icm42670p: icm42670p@0 {
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apex = "pedometer";
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}
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.. code-block:: console
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Found device "icm42670p@68", getting sensor data
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[0:00:09.287]: STEP_DET count: 6 steps cadence: 2.0 steps/s activity: Unknown
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[0:00:09.689]: STEP_DET count: 7 steps cadence: 2.1 steps/s activity: Walk
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[0:00:10.051]: STEP_DET count: 8 steps cadence: 2.2 steps/s activity: Walk
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[0:00:10.433]: STEP_DET count: 9 steps cadence: 2.2 steps/s activity: Walk
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[0:00:10.835]: STEP_DET count: 10 steps cadence: 2.3 steps/s activity: Walk
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<repeats endlessly>
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.. code-block:: devicetree
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icm42670p: icm42670p@0 {
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apex = "tilt";
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}
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.. code-block:: console
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Found device "icm42670p@68", getting sensor data
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[0:00:15.249]: TILT
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[0:00:21.479]: TILT
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[0:00:26.765]: TILT
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<repeats endlessly>
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.. code-block:: devicetree
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icm42670p: icm42670p@0 {
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apex = "wom";
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}
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.. code-block:: console
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Found device "icm42670p@68", getting sensor data
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[0:00:02.555]: WOM x=1 y=0 z=1
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[0:00:02.636]: WOM x=0 y=0 z=1
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[0:00:02.797]: WOM x=0 y=1 z=0
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[0:00:02.877]: WOM x=0 y=0 z=1
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[0:00:02.957]: WOM x=1 y=1 z=1
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<repeats endlessly>
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.. code-block:: devicetree
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icm42670p: icm42670p@0 {
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apex = "smd";
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}
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.. code-block:: console
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Found device "icm42670@68", getting sensor data
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[0:00:04.622]: SMD
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[0:00:05.084]: SMD
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[0:00:05.566]: SMD
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<repeats endlessly>

‎samples/sensor/tdk_apex/boards/nrf52dk_nrf52832_i2c.overlay‎

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/*
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* Copyright (c) 2024, TDK Invensense
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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/*
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* Get a node identifier for TDK IMU sensor supporting APEX feature.
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*/
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/ {
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aliases {
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tdk-apex-sensor0 = &icm42670p;
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};
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};
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/*
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* Example configuration of a ICM42670-P device on i2c0 compatible with an Arduino I2C bus.
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*
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* Device address 0x68 is assumed. Your device may have a different
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* address; check your device documentation if unsure.
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*/
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&arduino_i2c {
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status = "okay";
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icm42670p: icm42670p@68 {
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compatible = "invensense,icm42670p";
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reg = <0x68>;
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int-gpios = <&arduino_header 8 GPIO_ACTIVE_HIGH>; /* D2 */
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accel-hz = <50>;
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gyro-hz = <50>;
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accel-fs = <16>;
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gyro-fs = <2000>;
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apex = "pedometer";
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};
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};

‎samples/sensor/tdk_apex/boards/nrf52dk_nrf52832_spi.overlay‎

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/*
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* Copyright (c) 2024, TDK Invensense
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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/*
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* Get a node identifier for TDK IMU sensor supporting APEX feature.
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*/
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/ {
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aliases {
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tdk-apex-sensor0 = &icm42670p;
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};
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};
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/*
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* Example configuration of a ICM42670-P device on spi2 compatible with an Arduino SPI bus.
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*/
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&arduino_spi {
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status = "okay";
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cs-gpios = <&arduino_header 14 GPIO_ACTIVE_LOW>; /* D8 */
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icm42670p: icm42670p@0 {
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compatible = "invensense,icm42670p";
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reg = <0>;
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spi-max-frequency = <1000000>; /* conservatively set to 1MHz */
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int-gpios = <&arduino_header 8 GPIO_ACTIVE_HIGH>; /* D2 */
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accel-hz = <50>;
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gyro-hz = <50>;
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accel-fs = <16>;
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gyro-fs = <2000>;
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apex = "pedometer";
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};
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};

‎samples/sensor/tdk_apex/prj.conf‎

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#
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# Copyright (c) 2024 TDK Invensense
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#
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# SPDX-License-Identifier: Apache-2.0
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#
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CONFIG_SENSOR=y
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CONFIG_LOG=y
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CONFIG_SENSOR_LOG_LEVEL_DBG=n
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# Floating point format support
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# Selecting this increases stack size requirements slightly, but increases code size significantly.
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CONFIG_CBPRINTF_FP_SUPPORT=y
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# nrf52dk/nrf52832 specific
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CONFIG_USE_SEGGER_RTT=n
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# Trigger mode: sample is using interrupt triggering
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CONFIG_ICM42670_TRIGGER_OWN_THREAD=y

‎samples/sensor/tdk_apex/sample.yaml‎

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sample:
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name: TDK Sensor APEX sample
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tests:
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sample.sensor.icm42670.apex:
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build_only: true
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tags: sensors
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filter: dt_alias_exists("tdk_apex_sensor0")
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integration_platforms:
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- nrf52dk/nrf52832

‎samples/sensor/tdk_apex/src/main.c‎

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/*
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* Copyright (c) 2024 TDK Invensense
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <zephyr/kernel.h>
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#include <zephyr/device.h>
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#include <zephyr/devicetree.h>
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#include <zephyr/drivers/sensor.h>
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#include <zephyr/drivers/sensor/tdk_apex.h>
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#include <stdio.h>
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static struct sensor_trigger data_trigger;
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/* Flag set from IMU device irq handler */
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static volatile int irq_from_device;
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/*
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* Get a device structure from a devicetree node from alias
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* "tdk_apex_sensor0".
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*/
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static const struct device *get_tdk_apex_device(void)
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{
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const struct device *const dev = DEVICE_DT_GET(DT_ALIAS(tdk_apex_sensor0));
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if (!device_is_ready(dev)) {
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printk("\nError: Device \"%s\" is not ready; "
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"check the driver initialization logs for errors.\n",
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dev->name);
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return NULL;
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}
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printk("Found device \"%s\", getting sensor data\n", dev->name);
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return dev;
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}
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static const char *now_str(void)
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{
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static char buf[16]; /* ...HH:MM:SS.MMM */
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uint32_t now = k_uptime_get_32();
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unsigned int ms = now % MSEC_PER_SEC;
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unsigned int s;
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unsigned int min;
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unsigned int h;
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now /= MSEC_PER_SEC;
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s = now % 60U;
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now /= 60U;
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min = now % 60U;
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now /= 60U;
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h = now;
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snprintf(buf, sizeof(buf), "%u:%02u:%02u.%03u", h, min, s, ms);
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return buf;
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}
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static void handle_tdk_apex_drdy(const struct device *dev, const struct sensor_trigger *trig)
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{
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if (trig->type == SENSOR_TRIG_MOTION) {
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int rc = sensor_sample_fetch_chan(dev, trig->chan);
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if (rc < 0) {
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printf("sample fetch failed: %d\n", rc);
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printf("cancelling trigger due to failure: %d\n", rc);
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(void)sensor_trigger_set(dev, trig, NULL);
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return;
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} else if (rc == 0) {
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irq_from_device = 1;
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}
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}
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}
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int main(void)
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{
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const struct device *dev = get_tdk_apex_device();
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struct sensor_value apex_mode;
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if (dev == NULL) {
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return 0;
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}
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sensor_attr_get(dev, SENSOR_CHAN_APEX_MOTION, SENSOR_ATTR_CONFIGURATION, &apex_mode);
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if (apex_mode.val1 == TDK_APEX_PEDOMETER) {
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printf("Pedometer data sample.\n");
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} else if (apex_mode.val1 == TDK_APEX_TILT) {
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printf("Tilt data sample.\n");
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} else if (apex_mode.val1 == TDK_APEX_WOM) {
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printf("WOM data sample.\n");
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} else if (apex_mode.val1 == TDK_APEX_SMD) {
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printf("SMD data sample.\n");
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}
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apex_mode.val2 = 0;
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sensor_attr_set(dev, SENSOR_CHAN_APEX_MOTION, SENSOR_ATTR_CONFIGURATION, &apex_mode);
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data_trigger = (struct sensor_trigger){
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.type = SENSOR_TRIG_MOTION,
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.chan = SENSOR_CHAN_APEX_MOTION,
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};
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if (sensor_trigger_set(dev, &data_trigger, handle_tdk_apex_drdy) < 0) {
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printf("Cannot configure data trigger!!!\n");
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return 0;
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}
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printf("Configured for APEX data collecting.\n");
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k_sleep(K_MSEC(1000));
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while (1) {
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if (irq_from_device) {
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if (apex_mode.val1 == TDK_APEX_PEDOMETER) {
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struct sensor_value apex_pedometer[3];
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sensor_channel_get(dev, SENSOR_CHAN_APEX_MOTION, apex_pedometer);
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printf("[%s]: STEP_DET count: %d steps cadence: %.1f steps/s "
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"activity: %s\n",
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now_str(), apex_pedometer[0].val1,
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sensor_value_to_double(&apex_pedometer[2]),
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apex_pedometer[1].val1 == 1 ? "Walk"
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: apex_pedometer[1].val1 == 2 ? "Run"
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: "Unknown");
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} else if (apex_mode.val1 == TDK_APEX_TILT) {
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struct sensor_value apex_tilt;
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sensor_channel_get(dev, SENSOR_CHAN_APEX_MOTION, &apex_tilt);
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printf("[%s]: %s\n", now_str(),
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apex_tilt.val1 ? "TILT" : "Unknown trig");
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} else if (apex_mode.val1 == TDK_APEX_WOM) {
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struct sensor_value apex_wom[3];
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sensor_channel_get(dev, SENSOR_CHAN_APEX_MOTION, apex_wom);
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printf("[%s]: WOM x=%d y=%d z=%d\n", now_str(), apex_wom[0].val1,
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apex_wom[1].val1, apex_wom[2].val1);
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} else if (apex_mode.val1 == TDK_APEX_SMD) {
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struct sensor_value apex_smd;
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sensor_channel_get(dev, SENSOR_CHAN_APEX_MOTION, &apex_smd);
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printf("[%s]: %s\n", now_str(),
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apex_smd.val1 ? "SMD" : "Unknown trig");
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}
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irq_from_device = 0;
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}
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}
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return 0;
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}

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